@conference {2883,
	title = {Toward whole-body loco-manipulation: Experimental results on multi-contact interaction with the Walk-Man robot},
	booktitle = {IEEE International Conference of Intelligent Robots and Systems (IROS 2016)},
	year = {2016},
	publisher = {IEEE},
	organization = {IEEE},
	address = {Danjeon, Korea, October 10-14 2016},
	abstract = {<p>In this paper a quasi-static framework for optimally controlling the contact force distribution is experimentally verified with the full-size compliant humanoid robot Walk-Man. The proposed approach is general enough to cope with multi-contact scenarios, i.e. robot-environment interactions occurring on feet and hands, up to the more general case of whole-body loco-manipulation, in which the robot is in contact with the environment also with the internal limbs, with a consequent loss of contact force controllability. Experimental tests were conducted with the Walk-Man robot (i) standing on flat terrain, (ii) standing on uneven terrain and (iii) interacting with the environment with both feet and a hand touching a vertical wall. Moreover, the influence of unmodeled weight on the robot, and the combination with a higher priority Cartesian tasks are shown. Results are presented also in the attached video.</p>
},
	keywords = {Robotics},
	doi = {10.1109/IROS.2016.7759225},
	url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7759225},
	author = {E. Farnioli and M Gabiccini and A. Bicchi}
}
